Greetings to everyone, So I will cut straight to the point; I am willing to build a bipedal walking robot for my final year engineering project. I am still stuck with the basics and in need to some orientation. My first step in making this robot is the "mathematical design"; I need to know what torques are required, measurements of the legs, how actually does the system work and all! I am in quest for an interactive very basic orientation. If anyone could point to a nice book or anything else, I will be very grateful.